README.md

FunGraph3D

FunGraph3D.annotations.json: Object and interactive element segmentation annotations

FunGraph.relations.json: Functional 3D scene graph annotations

all_labels.json: all labels appeared in the dataset for evaluation

all_labels_clip.embedding.npy: CLIP embeddings of all labels appeared in the dataset for evaluation

all_edges.json: all relationship descriptions appeared in the dataset for edge evaluation

all_edges_bert_embeddings.npy: BERT embeddings of all relationship descriptions appeared in the dataset for edge evaluation

OpenFunGraph_split.txt: split used for OpenFunGraph evaluation

Assets for each scene

interaction_video.mp4: dynamic interaction video for the scene

xxx.ply: 5mm laser scan for the scene

videoX/depth: high resolution depth rendered by the Leica scan

videoX/raw_camera: raw camera pose files for iPad scan

videoX/raw_low_res_depth: raw low resolution LiDar depth files for iPad scan

videoX/raw_rgb: raw RGB files for iPad scan

videoX/rgb: registered RGB images in the scan by COLMAP (used for evaluation)

cameras.txt: camera intrinsics by COLMAP

images.txt: camera extrinsics by COLMAP